CAJ | 학술논문

针对一类具有未知时变时滞的一阶非线性参数化系统，提出一种自适应迭代学习控制方案。通过利用边界层函数构造广义跟踪误差，消除了迭代学习控制初始精确定位的限制。为避免因引入边界层函数而产生的奇异性问题，引入双曲正切函数，并根据双曲正切函数的性质，通过构造Lyapunov-krasovskii型复合能量函数证明了所有信号的有界性和跟踪误差的收敛性。仿真算例验证了所提出方案的有效性。
침대일류구유미지시변시체적일계비선성삼수화계통，제출일충자괄응질대학습공제방안。통과이용변계층함수구조엄의근종오차，소제료질대학습공제초시정학정위적한제。위피면인인입변계층함수이산생적기이성문제，인입쌍곡정절함수，병근거쌍곡정절함수적성질，통과구조Lyapunov-krasovskii형복합능량함수증명료소유신호적유계성화근종오차적수렴성。방진산례험증료소제출방안적유효성。
An adaptive iterative learning control ( AILC) scheme was proposed for a class of first-order nonlinear param-eterized systems with unknown time-varying delays.By utilizing boundary layer function to construct generalized track-ing error, the assumption of initial condition for iterative learning control ( ILC) was removed.The possible singularity problem arising from boundary layer function was avoided by introducing the hyperbolic tangent function.According to the characteristic of hyperbolic tangent function, the boundedness of all signals and the convergence of tracking errors were proved in two cases by constructing Lyapuonv-Krasovskii-Like composite energy function ( CEF) .Finally a simu-lation example demonstrates the effectiveness of the control scheme.